#!/bin/zsh

roscore&
sleep 3

imu_fix_port='/dev/ttyUSB1'
encoder_port='/dev/ttyUSB0'

gnome-terminal  \
 --tab -t "camera" -e "bash -c 'roslaunch usb_cam camera_topic.launch;exec bash'"\
 --tab -t "encoder_data" -e "bash -c 'python ~/jetson_datasave/encoder_ros.py --tty_usb=$encoder_port;exec bash'"\
 --tab -t "IMU" -e "bash -c 'roslaunch fdilink_ahrs imu.launch port:=$imu_fix_port;exec bash'"\
 --tab -t "Lidar" -e "bash -c 'source /home/orangepi/ws_livox/devel/setup.bash && roslaunch livox_ros_driver2 msg_HAP.launch; exec bash'"
 
 
